基于优化人工势场法的无人机航迹规划

doi:10.12305/j.issn.1001-506X.2023.05.22

摘要/Abstract

摘要：

针对传统人工势场(traditional artificial potential field，TAPF)法在无人机航迹规划中存在的局部极小值、斥力过大、无效避障等问题，提出一种优化人工势场法。首先将障碍物斥力进行分解，避免了局部极小值情况；其次重构合力计算方式，避免无人机在障碍密集区域所受斥力过大；最后引入二次碰撞预测方法，减少无人机无效避障的同时保证航迹平滑。在考虑无人机物理约束条件下进行航迹规划实验。仿真结果表明，该方法相较于TAPF法，不仅缩短了规划航线长度，且在航迹平滑性上有明显提升。

关键词: 人工势场法, 航迹规划, 物理约束, 碰撞预测, 航迹平滑

Abstract:

Aiming at the problems of local minimum point, excessive repulsion force, and unnecessary obstacle avoidance in the traditional artificial potential field (TAPF) method in unmanned aerial vehicle path planning, an optimized artificial potential field method is proposed. Firstly, the repulsion force is decomposed to avoid the local minimum point. Then, the calculation method of the resultant force is reconstructed to avoid excessive repulsion force when unmanned aerial vehicle in obstacle-intensive area. Finally, the two-time collision predict method is introduced to reduce the unnecessary obstacle avoidance and ensure a smooth trajectory. The path planning experiments are carried out with considering the physical constraints of unmanned aerial vehicle. Compared with the TAPF method, the proposed method not only shortens the length of planning trajectory, but also significantly improves the smoothness of trajectory.

Key words: artificial potential field method, path planning, physical constraint, collision predict, smooth trajectory

中图分类号:

V249

王庆禄, 吴冯国, 郑成辰, 李辉. 基于优化人工势场法的无人机航迹规划[J]. 系统工程与电子技术, 2023, 45(5): 1461-1468.

Qinglu WANG, Fengguo WU, Chengchen ZHENG, Hui LI. UAV path planning based on optimized artificial potential field method[J]. Systems Engineering and Electronics, 2023, 45(5): 1461-1468.

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参数名	取值
障碍物半径r/m	[30, 100]
常量s	100
无人机探测半径γ/m	500
最大速度v/(m/s)	50
最大角速度$\dot{\psi} $/(rad/s)	π/3
最大加速度$ \dot{V}$/(m/s²)	10
速度斥力系数K_{rep_v}	350
方向斥力系数K_{rep_dir}	350
引力系数K_att	500

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